Robot joint and robot

Abstract

The utility model provides a robot joint and a robot. The robot joint comprises a joint shell, a transmission mechanism, a speed reducer assembly, a stator assembly, a corrugated pipe, a cable and a wire harness clamp. The transmission mechanism, the speed reducer assembly and the stator assembly are arranged in the joint shell. A wire hole and a wire groove are formed in the outer surface of the joint shell. The cable is led out from the interior of the joint shell and penetrates through the wire hole, the corrugated pipe is sleeved with the cable, the cable penetrates through the wire groove, and the wire harness clamp is used for fixing the cable to the wire groove of the joint shell. And after the cable passes through the wire hole, the wire hole is subjected to glue filling treatment. The robot is provided with the robot joint. According to the utility model, the cable is protected and fixed by utilizing a glue filling technology and cooperating with the wire hole, the wire slot, the wire harness clamp and the corrugated pipe, so that the cable is prevented from being pulled and damaged in a movement process, and the signal transmission quality is ensured. The robot joint is sealed through the static sealing part and the dynamic sealing part, waterproof and dustproof effects of the joint are achieved, and the structure is simple and reliable.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a robot joint and a robot. Background Technology

[0002] The robot joints are equipped with cables that transmit various signals, and these cables connect the joints in series. There are two methods for cable routing: external routing and internal routing.

[0003] Hollow-type joints typically use internal wiring, which usually requires a hollow reducer, and the hollow reducer needs a synchronous pulley for drive. The inventors of this invention have discovered that the existing technology has at least the following problems: this wiring method increases the cost of the reducer and pulley, failing to meet current low-cost requirements. External wiring not only affects aesthetics but also poses safety hazards, as cable pulling and terminal loosening during robot joint rotation can easily lead to failure. Furthermore, collisions or falls can easily damage the cables, thus affecting the robot's normal operation.

[0004] The content in the background section is merely technology known to the public and does not necessarily represent existing technology in this field. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a robot joint and a robot.

[0006] According to one aspect of this utility model, a robot joint is disclosed. The joint includes a joint housing, a reducer assembly, a transmission mechanism, a stator assembly, a cable, and a wire harness clamp. The joint housing has a first opening and a second opening, and the outer surface of the second opening has a wire groove and a wire hole. The transmission mechanism is disposed inside the first opening of the joint housing, and an input end is provided on one side of the transmission mechanism. The reducer assembly is disposed inside the first opening of the joint housing and at the input end of the transmission mechanism to drive the transmission mechanism. The stator assembly is disposed inside the second opening of the joint housing. A bellows has an external structure adapted to the wire groove. The cable is led out from the stator assembly, passes through the second opening and the wire hole in sequence, is sleeved on the bellows, exits the wire groove, and is connected to the robot. The wire harness clamp is detachably disposed on the outer surface of the joint housing to fix the cable to the joint housing.

[0007] Optionally, a wire hole is provided for the cable to be installed inside, and potting compound is provided inside the wire hole to seal the wire hole.

[0008] Optionally, the outer surface of the second opening is also provided with a heat dissipation component.

[0009] Optionally, the interior of the second opening is further provided with a stepped structure for mounting the positioning stator assembly.

[0010] Optionally, the first opening is provided with a dynamic sealing component inside. The second opening is provided with a static sealing component at its opening.

[0011] Optionally, the cables include, but are not limited to, power lines and temperature sensing lines. Power lines are used to supply current to the stator assembly, and temperature sensing lines are used to measure the temperature of the stator assembly.

[0012] According to one aspect of the present invention, a robot is disclosed, which includes the joints described in any of the above claims.

[0013] The present invention has the following beneficial effects.

[0014] This utility model discloses a robot joint and a robot. The joint shell is provided with wire holes and wire grooves, and is equipped with corrugated pipes and wire harness clamps. The cable is protected and fixed by a potting process, which avoids the cable being pulled and damaged during the joint rotation and ensures the signal transmission quality.

[0015] This utility model discloses a robot joint and a robot. The first and second openings of the joint shell are sealed by dynamic sealing and static sealing methods, respectively, to achieve waterproof and dustproof joint. The structure is simple, safe and reliable. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a cross-sectional view of a robot joint according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the structure of the robot joint housing after the cable passes through the joint housing according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the structure of the robot joint shell according to an embodiment of the present invention;

[0020] Figure 4 This is a side view of the robot joint shell according to an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of the wire harness clip structure according to an embodiment of the present utility model.

[0022] Explanation of reference numerals in the attached figures:

[0023] 100 Joint housing, 101 First opening, 102 Second opening, 103 Cable groove, 104 Reducer assembly, 105 Stator assembly, 106 Transmission mechanism, 107 Cable hole, 108 Threaded hole, 109 Heat dissipation assembly, 110 Step, 111 Static sealing component, 112 Groove, 113 Dynamic sealing component, 200 Cable, 300 Cable harness clip, 301 Mounting hole, 400 Bellows, 500 Connector. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. The embodiments described in this application are merely some embodiments of this utility model, and not all embodiments. Based on the spirit of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0025] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not imply the presence or addition of one or more other elements or combinations.

[0026] Figure 1 This is a cross-sectional view of a robot joint according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the robot joint housing structure after the cable passes through it, according to an embodiment of the present invention. Figure 1 and Figure 2 As shown, the robot joint includes a joint housing 100, a reducer assembly 104, a transmission mechanism 106, a stator assembly 105, a cable 200, a wire harness clamp 300, and a bellows 400.

[0027] like Figure 1 As shown, the joint housing 100 has a first opening 101 and a second opening 102. A transmission mechanism 106 is disposed inside the first opening 101 of the joint housing 100, and an input end is provided on one side of the transmission mechanism 106. A reducer assembly 104 is disposed inside the first opening 101 of the joint housing 100, and the output end of the reducer assembly 104 is connected to the input end of the transmission mechanism 106 to drive the transmission mechanism 106 to move, thereby driving the robot joint to move. A stator assembly 105 is disposed inside the second opening 102.

[0028] Figure 3 The structure of the robot's joint shell is shown. (Example) Figure 3 As shown, the outer surface of the second opening 102 of the joint housing 100 is provided with a wire hole 107 and a wire groove 103 for the cable 200 to pass through. For example, after the cable 200 is led out from the second opening 102, it passes through the wire hole 107 and is then fitted inside the corrugated tube 400 to pass through the wire groove 103. Figure 2 The structure of the joint housing after the cable exits the housing is shown. (Example) Figure 2 As shown, when the cable 200 passes through the cable groove 103 after being fitted with the corrugated tube 400, the cable harness clamp 300 fixes the cable 200 to the joint housing 200.

[0029] When the cable 200 is led out from the joint housing 100, it passes through the cable hole 107 and is sleeved in the corrugated tube 400 before exiting the cable groove 103. The cable hole 107, the corrugated tube 400, and the cable groove 103 can provide protection for the cable 200. According to the robot joint of this embodiment, when the robot is working in harsh environments such as extreme temperatures, dust, and humidity, the environmental impact on the cable can be reduced, the cable service life can be extended, and the normal operation of the robot can be improved.

[0030] Figure 5 The structure of the wire harness clip 300 is shown. For example... Figure 5 As shown, the wire harness clip 300 has symmetrical mounting holes 301 on both sides. Figure 2 and Figure 3 In the cable tray 103, corresponding threaded holes 108 are provided at both ends facing the first opening 101. The connector 500 passes through the mounting hole 301 and is screwed into the threaded hole 108. The connector 500 can be a screw or a threaded pin. This allows the cable 200 to be fixed to the joint housing 100. In this case, the cable 200 is connected to the robot.

[0031] When the cable 200 is fixed to the joint housing 100, the cable hole 107 is filled with glue to seal the cable hole 107, which helps to make the cable hole 107 waterproof and dustproof.

[0032] In this embodiment of the robot joint, the cable is led out from the joint shell and protected and secured using wire holes, wire channels, wire harness clips, corrugated tubing, and potting compound. This robot joint design prevents cable pulling and terminal loosening caused by robot joint rotation, thus avoiding failure. Furthermore, in the event of robot collisions or falls, the cable is less likely to be torn or damaged, extending cable lifespan and ensuring the quality of electrical signal transmission.

[0033] like Figure 3 As shown, on one side of the second opening 102, a heat dissipation assembly 109 is provided on the outside of the stator assembly 105 to dissipate heat from the stator assembly 105.

[0034] For example, the stator assembly 105 consists of a stator core, stator windings, and a frame. During operation, the stator windings carry a large current, causing heat generation. Severe overheating can lead to insulation aging and reduced lifespan of the stator windings. The second opening 102 has a uniform heat dissipation assembly 109 on its exterior, which conducts heat to the internal stator assembly 105 through natural heat dissipation, keeping the temperature of the stator assembly 105 within a safe range, extending its service life, and facilitating its normal operation.

[0035] Figure 4 This is a side view of the robot joint shell according to an embodiment of the present invention. Figure 4 As shown, the interior of the second opening 102 is provided with a step 110 for mounting the positioning stator assembly 105. For example, as Figure 1 As shown, the base end of the stator assembly 105 has a corresponding stepped structure that is adapted to the step 110 inside the joint housing 100.

[0036] like Figure 1 As shown, when the reducer assembly 104, stator assembly 105, and transmission mechanism 106 are mounted to the joint housing 110, the second opening 102 of the joint housing 100 is sealed by a static sealing component 111. For example, a static sealing ring or a static sealing gasket is used to seal the second opening 102.

[0037] In addition, a dynamic sealing component 113 is used to seal the first opening 101. A transmission mechanism 106 is installed inside the first opening 101. During operation, the transmission mechanism 106 and the sealing assembly (here, the dynamic sealing component 113) move relative to each other; therefore, a dynamic sealing design is employed. For example, as... Figure 4 As shown, the first opening has a groove 112 inside, which can be fitted with an O-ring to achieve dynamic sealing. Alternatively, dynamic sealing can be achieved using sealing packing. The sealing method is not limited here. The sealing ring or sealing material is prone to deformation under compression, thereby blocking the channel and achieving a seal on the first opening 101 and the second opening 102.

[0038] In this embodiment, the robot joint employs both dynamic and static sealing components to seal the first and second openings of the joint shell. In harsh weather conditions such as rain, snow, and sandstorms, this sealing design prevents impurities from easily entering the joint shell, facilitating the normal operation of the reducer assembly, transmission mechanism, and stator assembly inside the joint shell, thus achieving waterproofing and dustproofing of the robot joint. This approach is simple in structure, low in cost, and highly reliable.

[0039] like Figure 1As shown, the joint cable 200 includes, but is not limited to, a power line 201 and a temperature sensing line 202. The power line 201 is used to supply current to the stator assembly 105, and the temperature sensing line 202 is used to measure the temperature of the stator assembly 105.

[0040] For example, the power supply delivers current to the stator assembly 105 via the power line 201. The temperature sensing line 202 can monitor the temperature of the stator assembly 105 in real time, preventing the stator assembly 105 from overheating and aging, which could affect the movement of the robot joints. The temperature sensing line 202 is easily broken and requires strict storage methods and conditions. During use, the temperature sensing line 202 should generally be avoided from being folded in half or subjected to strong pulling.

[0041] In this embodiment, the temperature sensing wire is led out from the joint shell and protected and secured using wire grooves, wire holes, corrugated tubes, and potting compound. This prevents the wire from being pulled and damaged during robot movement. This extends the lifespan of the temperature sensing wire and facilitates normal robot operation.

[0042] This application also relates to a robot equipped with the robot joint structure described in the above embodiments. For example, the robot can be a legged robot. For example, the legged robot can be a legged robot used for field search.

[0043] Finally, it should be noted that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions of the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robot joint, characterized in that, include: The joint housing has a first opening and a second opening, and the outer surface of the second opening has a wire groove and a wire hole; A transmission mechanism is disposed inside the first opening, and an input end is provided on one side of the transmission mechanism; A speed reducer assembly is disposed inside the first opening and at the input end to drive the transmission mechanism; The stator assembly is disposed inside the second opening; The corrugated pipe has an external structure adapted to the groove. The cable is led out from the stator assembly, passes through the second opening and the wire hole in sequence, is sleeved on the corrugated tube, and then passes out of the wire groove to be connected to the robot. A wire harness clip is detachably mounted on the outer surface of the joint housing to secure the cable to the joint housing.

2. The joint as described in claim 1, characterized in that, The wire hole is for housing the cable, and potting compound is provided inside the wire hole to seal it.

3. The joint as described in claim 1, characterized in that, The outer surface of the second opening is also provided with a heat dissipation component.

4. The joint as described in claim 1, characterized in that, The second opening also has a stepped structure inside for mounting and positioning the stator assembly.

5. The joint as described in claim 1, characterized in that, The first opening is equipped with a dynamic sealing component; The second opening is provided with a static sealing component.

6. The joint as described in claim 1, characterized in that, The cables include, but are not limited to, power lines and temperature sensing lines. The power lines are used to supply current to the stator assembly, and the temperature sensing lines are used to measure the temperature of the stator assembly.

7. A robot, characterized in that, The robot includes the joint described in any one of claims 1-6.

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